Abstract
Design and implementation of I-Cubes, a modular sewreconfigurable robotic system, is discussed. I-Cubes is a
bipartite collection of individual modules that can be
independently controlled. The group consists of active
elements, called links, which are 3-DOF manipulators
capable of attaching to/detaching from the passive elements
(cubes) acting as connectors. The cubes can be oriented and
positioned by the links. Using actuation and attachment
properties of the links and the cubes, the system can sewreconfigure to adapt to its environment. Tasks such as
moving over obstacles, climbing stairs can be pegormed by
changing the relative position and connection of the
modules.
The links are actuated using servomotors and worm gear
mechanisms. Mechanical encoders and rotary switches
provide position feedback for semi-autonomous control of
the system. The cubes are equipped with a novel mechanism
that provides inter-module attachment. Design and hardware
implementation of the system as well as experimental results
are presented.
1. Introduction
Recent research on robotic manipulators includes
reconfigurable modular systems for versatility in task
orientation, and adaptation to changing environments. An
obvious extension of such systems is to combine
reconfigurability with autonomous systems to obtain selfreconfiguring systems that can change their shape for
adaptation and task-orientation. Our specific aim in
designing such a system is to overcome some of the
problems encountered by mobile robots, and to design
systems that are geared toward multiple tasks. Selfreconfigurable systems emerge as new technologies such as
distributed robotic systems and MEMS, move sensing,
locomotion and actuation capabilities of the robots further,
and toward smaller scales.
We envision a modular self-reconfiguring group that consists
of two modules with different characteristics, as detailed in
Section 1. A large group of modules that can change its
shape according to the locomotion, manipulation, or sensing
task at hand, will be capable of transforming into a snakelike robot to travel inside an air duct or tunnel, a legged robot
to move on uneven terrain, a climbing robot that can move
over obstacles, a flexible manipulator for space applications,
or an extending structure to form a bridge.
Designing a modular system with identical elements has
several advantages over large and complex robotic systems.
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rotate
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4 rotate
rotate
(b)
(a)
(C)
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move into position to form a connected group and selfreconfigure to lift the camera-equipped robot. For an initial
configuration and a sequence of actions dependent of the
initial configuration, it is possible to move the robot with the
camera on top of others. The robot can then detach from the
group and continue its surveillance mission. The required
number of faces with attachment points is two for the
camera-equipped robot. It is also possible for a larger group
to self-reconfigure into a tower to lift a surveillance robot to
see beyond relatively larger obstacles [9].
&
MI-
(d)
(e)
(f)
Figure 4. Two camer robots lifting another
3. Implementation
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size of the prototype. A link equipped with servos, wormwheel pairs, complete with all other mechanical and
electrical components weights approximately 370gr. The
length L is 8cm. One side of the link body is indented
slightly toward the connector to enable the link to complete
270-degree turns around its middle joint. All shafts are keyed
to couple with the plastic servo heads and encoder shafts.
The servos are held in place with custom-designed plastic
holders.
3.2. The attachment mechanism and the cubes
The design of the attachment mechanism between the crossshaped link connectors and the cube faces is based on the
requirements listed in Section 2.1 and the mechanical
capabilities of the links. The mechanism is useful in a
situation described here, where the connecting elements need
to have a single point of contact and a rotational degree-offreedom with respect to each other.
A cross-shaped link connector is designed to enter (2) and
rotate (3) to its locked position inside an opening (receptor)
on the cube faceplate (Figure 6). This inhibits lateral motion
separating the link and the cube. Before the connectors
approach, sliding pegs under the surface of the faceplate
retract (1) to clear the path of the connector. Once the
connector is in locked position, the sliding pegs return (4)
to their extended (idle) position. This action inhibits the free
rotation of the connector, thus locks the link and the
faceplate together. In this position, a joint motion will rotate
one of the modules (link or cube) with respect to the other.
(b)
Figure 5. The link: (a) CAD image of the link assembly, (b) details of the
latest prototype (Also see Section 4).
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--
15 Ohm each
(a)
(b)
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(a)
(b)
(C)
Figure 8. A link moving from horizontal plane to vertical plane.
Our plans include upd3ting the microcontrollers for intermodule communications and smaller size. Simple electromeGhanica1 connectors that can provide multiple lines for
power and serial communication lines between modules are
also considered. The surface of the cross-shaped attachment
piece will include the contact points. Using flexible cable
wrapped around the connector shaft while forcing counter
rotations to unwrap the cable when a link end is free and
design of contact rings enabling continuous rotations are the
two alternatives we consider. The CUI will also be updated
to provide more information about the actuation for manual
control and will be interfaced to a motion planner [IO]. W e
are currently designing rotary switches for 45-degree
resolution, and new links and cubes to reduce the module
size L to 6cm.
Acknowledgements
This work is supported by DARPA and the Institute for Complex
Engineered Systems. The authors would like to thank William F.
Hein, Ryan J. Thomas, and Stephen M. Wolfe for their valuable
contribution on design, implementation, and testing of I-Cubes.
(C)
(d)
Figure 10. Two links lifting, moving and exchanging a cube.
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